def image_based_goal_conditioned_sac_experiment(
max_path_length,
qf_kwargs,
sac_trainer_kwargs,
replay_buffer_kwargs,
policy_kwargs,
algo_kwargs,
cnn_kwargs,
policy_type='tanh-normal',
env_id=None,
env_class=None,
env_kwargs=None,
exploration_policy_kwargs=None,
evaluation_goal_sampling_mode=None,
exploration_goal_sampling_mode=None,
reward_type='state_distance',
env_renderer_kwargs=None,
# Data augmentations
apply_random_crops=False,
random_crop_pixel_shift=4,
# Video parameters
save_video=True,
save_video_kwargs=None,
video_renderer_kwargs=None,
):
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if not save_video_kwargs:
save_video_kwargs = {}
if not env_renderer_kwargs:
env_renderer_kwargs = {}
if not video_renderer_kwargs:
video_renderer_kwargs = {}
img_observation_key = 'image_observation'
img_desired_goal_key = 'image_desired_goal'
state_observation_key = 'state_observation'
state_desired_goal_key = 'state_desired_goal'
state_achieved_goal_key = 'state_achieved_goal'
sample_context_from_obs_dict_fn = RemapKeyFn({
'image_desired_goal':
'image_observation',
'state_desired_goal':
'state_observation',
})
def setup_contextual_env(env_id, env_class, env_kwargs, goal_sampling_mode,
renderer):
state_env = get_gym_env(env_id,
env_class=env_class,
env_kwargs=env_kwargs)
state_env.goal_sampling_mode = goal_sampling_mode
state_goal_distribution = GoalDictDistributionFromMultitaskEnv(
state_env,
desired_goal_keys=[state_desired_goal_key],
)
state_diag_fn = GoalConditionedDiagnosticsToContextualDiagnostics(
state_env.goal_conditioned_diagnostics,
desired_goal_key=state_desired_goal_key,
observation_key=state_observation_key,
)
image_goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=state_goal_distribution,
image_goal_key=img_desired_goal_key,
renderer=renderer,
)
goal_distribution = PresampledDistribution(image_goal_distribution,
5000)
img_env = InsertImageEnv(state_env, renderer=renderer)
if reward_type == 'state_distance':
reward_fn = ContextualRewardFnFromMultitaskEnv(
env=state_env,
achieved_goal_from_observation=IndexIntoAchievedGoal(
'state_observation'),
desired_goal_key=state_desired_goal_key,
achieved_goal_key=state_achieved_goal_key,
)
elif reward_type == 'pixel_distance':
reward_fn = NegativeL2Distance(
achieved_goal_from_observation=IndexIntoAchievedGoal(
img_observation_key),
desired_goal_key=img_desired_goal_key,
)
else:
raise ValueError(reward_type)
env = ContextualEnv(
img_env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=img_observation_key,
contextual_diagnostics_fns=[state_diag_fn],
update_env_info_fn=delete_info,
)
return env, goal_distribution, reward_fn
env_renderer = EnvRenderer(**env_renderer_kwargs)
expl_env, expl_context_distrib, expl_reward = setup_contextual_env(
env_id, env_class, env_kwargs, exploration_goal_sampling_mode,
env_renderer)
eval_env, eval_context_distrib, eval_reward = setup_contextual_env(
env_id, env_class, env_kwargs, evaluation_goal_sampling_mode,
env_renderer)
action_dim = expl_env.action_space.low.size
if env_renderer.output_image_format == 'WHC':
img_width, img_height, img_num_channels = (
expl_env.observation_space[img_observation_key].shape)
elif env_renderer.output_image_format == 'CHW':
img_num_channels, img_height, img_width = (
expl_env.observation_space[img_observation_key].shape)
else:
raise ValueError(env_renderer.output_image_format)
def create_qf():
cnn = BasicCNN(input_width=img_width,
input_height=img_height,
input_channels=img_num_channels,
**cnn_kwargs)
joint_cnn = ApplyConvToStateAndGoalImage(cnn)
return basic.MultiInputSequential(
ApplyToObs(joint_cnn), basic.FlattenEachParallel(),
ConcatMlp(input_size=joint_cnn.output_size + action_dim,
output_size=1,
**qf_kwargs))
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
cnn = BasicCNN(input_width=img_width,
input_height=img_height,
input_channels=img_num_channels,
**cnn_kwargs)
joint_cnn = ApplyConvToStateAndGoalImage(cnn)
policy_obs_dim = joint_cnn.output_size
if policy_type == 'normal':
obs_processor = nn.Sequential(
joint_cnn, basic.Flatten(),
MultiHeadedMlp(input_size=policy_obs_dim,
output_sizes=[action_dim, action_dim],
**policy_kwargs))
policy = PolicyFromDistributionGenerator(Gaussian(obs_processor))
elif policy_type == 'tanh-normal':
obs_processor = nn.Sequential(
joint_cnn, basic.Flatten(),
MultiHeadedMlp(input_size=policy_obs_dim,
output_sizes=[action_dim, action_dim],
**policy_kwargs))
policy = PolicyFromDistributionGenerator(TanhGaussian(obs_processor))
elif policy_type == 'normal-tanh-mean':
obs_processor = nn.Sequential(
joint_cnn, basic.Flatten(),
MultiHeadedMlp(input_size=policy_obs_dim,
output_sizes=[action_dim, action_dim],
output_activations=['tanh', 'identity'],
**policy_kwargs))
policy = PolicyFromDistributionGenerator(Gaussian(obs_processor))
else:
raise ValueError("Unknown policy type: {}".format(policy_type))
if apply_random_crops:
pad = BatchPad(
env_renderer.output_image_format,
random_crop_pixel_shift,
random_crop_pixel_shift,
)
crop = JointRandomCrop(
env_renderer.output_image_format,
env_renderer.image_shape,
)
def concat_context_to_obs(batch, *args, **kwargs):
obs = batch['observations']
next_obs = batch['next_observations']
context = batch[img_desired_goal_key]
obs_padded = pad(obs)
next_obs_padded = pad(next_obs)
context_padded = pad(context)
obs_aug, context_aug = crop(obs_padded, context_padded)
next_obs_aug, next_context_aug = crop(next_obs_padded,
context_padded)
batch['observations'] = np.concatenate([obs_aug, context_aug],
axis=1)
batch['next_observations'] = np.concatenate(
[next_obs_aug, next_context_aug], axis=1)
return batch
else:
def concat_context_to_obs(batch, *args, **kwargs):
obs = batch['observations']
next_obs = batch['next_observations']
context = batch[img_desired_goal_key]
batch['observations'] = np.concatenate([obs, context], axis=1)
batch['next_observations'] = np.concatenate([next_obs, context],
axis=1)
return batch
replay_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=[img_desired_goal_key, state_desired_goal_key],
observation_key=img_observation_key,
observation_keys=[img_observation_key, state_observation_key],
context_distribution=eval_context_distrib,
sample_context_from_obs_dict_fn=sample_context_from_obs_dict_fn,
reward_fn=eval_reward,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs)
trainer = SACTrainer(env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**sac_trainer_kwargs)
eval_path_collector = ContextualPathCollector(
eval_env,
MakeDeterministic(policy),
observation_key=img_observation_key,
context_keys_for_policy=[img_desired_goal_key],
)
exploration_policy = create_exploration_policy(expl_env, policy,
**exploration_policy_kwargs)
expl_path_collector = ContextualPathCollector(
expl_env,
exploration_policy,
observation_key=img_observation_key,
context_keys_for_policy=[img_desired_goal_key],
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs)
algorithm.to(ptu.device)
if save_video:
rollout_function = partial(
rf.contextual_rollout,
max_path_length=max_path_length,
observation_key=img_observation_key,
context_keys_for_policy=[img_desired_goal_key],
)
video_renderer = EnvRenderer(**video_renderer_kwargs)
video_eval_env = InsertImageEnv(eval_env,
renderer=video_renderer,
image_key='video_observation')
video_expl_env = InsertImageEnv(expl_env,
renderer=video_renderer,
image_key='video_observation')
video_eval_env = ContextualEnv(
video_eval_env,
context_distribution=eval_env.context_distribution,
reward_fn=lambda *_: np.array([0]),
observation_key=img_observation_key,
)
video_expl_env = ContextualEnv(
video_expl_env,
context_distribution=expl_env.context_distribution,
reward_fn=lambda *_: np.array([0]),
observation_key=img_observation_key,
)
eval_video_func = get_save_video_function(
rollout_function,
video_eval_env,
MakeDeterministic(policy),
tag="eval",
imsize=video_renderer.image_shape[1],
image_formats=[
env_renderer.output_image_format,
env_renderer.output_image_format,
video_renderer.output_image_format,
],
keys_to_show=[
'image_desired_goal', 'image_observation', 'video_observation'
],
**save_video_kwargs)
expl_video_func = get_save_video_function(
rollout_function,
video_expl_env,
exploration_policy,
tag="xplor",
imsize=video_renderer.image_shape[1],
image_formats=[
env_renderer.output_image_format,
env_renderer.output_image_format,
video_renderer.output_image_format,
],
keys_to_show=[
'image_desired_goal', 'image_observation', 'video_observation'
],
**save_video_kwargs)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.post_train_funcs.append(expl_video_func)
algorithm.train()
def sac_on_gym_goal_env_experiment(
max_path_length,
qf_kwargs,
sac_trainer_kwargs,
replay_buffer_kwargs,
policy_kwargs,
algo_kwargs,
env_id=None,
env_class=None,
env_kwargs=None,
observation_key='observation',
desired_goal_key='desired_goal',
achieved_goal_key='achieved_goal',
exploration_policy_kwargs=None,
evaluation_goal_sampling_mode=None,
exploration_goal_sampling_mode=None,
# Video parameters
save_video=True,
save_video_kwargs=None,
renderer_kwargs=None,
):
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if not save_video_kwargs:
save_video_kwargs = {}
if not renderer_kwargs:
renderer_kwargs = {}
context_key = desired_goal_key
sample_context_from_obs_dict_fn = RemapKeyFn(
{context_key: achieved_goal_key})
def contextual_env_distrib_and_reward(env_id, env_class, env_kwargs,
goal_sampling_mode):
env = get_gym_env(
env_id,
env_class=env_class,
env_kwargs=env_kwargs,
unwrap_timed_envs=True,
)
env.goal_sampling_mode = goal_sampling_mode
goal_distribution = GoalDictDistributionFromGymGoalEnv(
env,
desired_goal_key=desired_goal_key,
)
distance_fn = L2Distance(
achieved_goal_from_observation=IndexIntoAchievedGoal(
achieved_goal_key, ),
desired_goal_key=desired_goal_key,
)
if (isinstance(env, robotics.FetchReachEnv)
or isinstance(env, robotics.FetchPushEnv)
or isinstance(env, robotics.FetchPickAndPlaceEnv)
or isinstance(env, robotics.FetchSlideEnv)):
success_threshold = 0.05
else:
raise TypeError("I don't know the success threshold of env ", env)
reward_fn = ThresholdDistanceReward(distance_fn, success_threshold)
diag_fn = GenericGoalConditionedContextualDiagnostics(
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
success_threshold=success_threshold,
)
env = ContextualEnv(
env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=[diag_fn],
update_env_info_fn=delete_info,
)
return env, goal_distribution, reward_fn
expl_env, expl_context_distrib, expl_reward = contextual_env_distrib_and_reward(
env_id, env_class, env_kwargs, exploration_goal_sampling_mode)
eval_env, eval_context_distrib, eval_reward = contextual_env_distrib_and_reward(
env_id, env_class, env_kwargs, evaluation_goal_sampling_mode)
obs_dim = (expl_env.observation_space.spaces[observation_key].low.size +
expl_env.observation_space.spaces[context_key].low.size)
action_dim = expl_env.action_space.low.size
def create_qf():
return ConcatMlp(input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs)
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
policy = TanhGaussianPolicy(obs_dim=obs_dim,
action_dim=action_dim,
**policy_kwargs)
def concat_context_to_obs(batch, *args, **kwargs):
obs = batch['observations']
next_obs = batch['next_observations']
context = batch[context_key]
batch['observations'] = np.concatenate([obs, context], axis=1)
batch['next_observations'] = np.concatenate([next_obs, context],
axis=1)
return batch
replay_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=[context_key],
observation_keys_to_save=[observation_key, achieved_goal_key],
context_distribution=eval_context_distrib,
sample_context_from_obs_dict_fn=sample_context_from_obs_dict_fn,
reward_fn=eval_reward,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs)
trainer = SACTrainer(env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**sac_trainer_kwargs)
eval_path_collector = ContextualPathCollector(
eval_env,
MakeDeterministic(policy),
observation_key=observation_key,
context_keys_for_policy=[context_key],
)
exploration_policy = create_exploration_policy(policy=policy,
env=expl_env,
**exploration_policy_kwargs)
expl_path_collector = ContextualPathCollector(
expl_env,
exploration_policy,
observation_key=observation_key,
context_keys_for_policy=[context_key],
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs)
algorithm.to(ptu.device)
if save_video:
# Setting the goal like this is discourage, but the Fetch environment
# are designed to visualize the goals by setting their goal parameter.
def set_goal_for_visualization(env, policy, o):
goal = o[desired_goal_key]
print(goal)
env.unwrapped.goal = goal
rollout_function = partial(
rf.contextual_rollout,
max_path_length=max_path_length,
observation_key=observation_key,
context_keys_for_policy=[context_key],
reset_callback=set_goal_for_visualization,
)
renderer = GymEnvRenderer(**renderer_kwargs)
def add_images(env, context_distribution):
state_env = env.env
img_env = InsertImageEnv(
state_env,
renderer=renderer,
image_key='image_observation',
)
return ContextualEnv(
img_env,
context_distribution=context_distribution,
reward_fn=eval_reward,
observation_key=observation_key,
update_env_info_fn=delete_info,
)
img_eval_env = add_images(eval_env, eval_context_distrib)
img_expl_env = add_images(expl_env, expl_context_distrib)
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
MakeDeterministic(policy),
tag="eval",
imsize=renderer.image_chw[1],
image_format=renderer.output_image_format,
keys_to_show=['image_observation'],
**save_video_kwargs)
expl_video_func = get_save_video_function(
rollout_function,
img_expl_env,
exploration_policy,
tag="train",
imsize=renderer.image_chw[1],
image_format=renderer.output_image_format,
keys_to_show=['image_observation'],
**save_video_kwargs)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.post_train_funcs.append(expl_video_func)
algorithm.train()
def goal_conditioned_sac_experiment(
max_path_length,
qf_kwargs,
sac_trainer_kwargs,
replay_buffer_kwargs,
policy_kwargs,
algo_kwargs,
env_id=None,
env_class=None,
env_kwargs=None,
observation_key='state_observation',
desired_goal_key='state_desired_goal',
achieved_goal_key='state_achieved_goal',
exploration_policy_kwargs=None,
evaluation_goal_sampling_mode=None,
exploration_goal_sampling_mode=None,
# Video parameters
save_video=True,
save_video_kwargs=None,
renderer_kwargs=None,
):
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if not save_video_kwargs:
save_video_kwargs = {}
if not renderer_kwargs:
renderer_kwargs = {}
context_key = desired_goal_key
sample_context_from_obs_dict_fn = RemapKeyFn({context_key: observation_key})
def contextual_env_distrib_and_reward(
env_id, env_class, env_kwargs, goal_sampling_mode
):
env = get_gym_env(env_id, env_class=env_class, env_kwargs=env_kwargs)
env.goal_sampling_mode = goal_sampling_mode
goal_distribution = GoalDictDistributionFromMultitaskEnv(
env,
desired_goal_keys=[desired_goal_key],
)
reward_fn = ContextualRewardFnFromMultitaskEnv(
env=env,
achieved_goal_from_observation=IndexIntoAchievedGoal(observation_key),
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
)
diag_fn = GoalConditionedDiagnosticsToContextualDiagnostics(
env.goal_conditioned_diagnostics,
desired_goal_key=desired_goal_key,
observation_key=observation_key,
)
env = ContextualEnv(
env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=[diag_fn],
update_env_info_fn=delete_info,
)
return env, goal_distribution, reward_fn
expl_env, expl_context_distrib, expl_reward = contextual_env_distrib_and_reward(
env_id, env_class, env_kwargs, exploration_goal_sampling_mode
)
eval_env, eval_context_distrib, eval_reward = contextual_env_distrib_and_reward(
env_id, env_class, env_kwargs, evaluation_goal_sampling_mode
)
obs_dim = (
expl_env.observation_space.spaces[observation_key].low.size
+ expl_env.observation_space.spaces[context_key].low.size
)
action_dim = expl_env.action_space.low.size
def create_qf():
return ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs
)
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
policy = TanhGaussianPolicy(
obs_dim=obs_dim,
action_dim=action_dim,
**policy_kwargs
)
def concat_context_to_obs(batch, *args, **kwargs):
obs = batch['observations']
next_obs = batch['next_observations']
context = batch[context_key]
batch['observations'] = np.concatenate([obs, context], axis=1)
batch['next_observations'] = np.concatenate([next_obs, context], axis=1)
return batch
replay_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=[context_key],
observation_keys=[observation_key],
context_distribution=eval_context_distrib,
sample_context_from_obs_dict_fn=sample_context_from_obs_dict_fn,
reward_fn=eval_reward,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs
)
trainer = SACTrainer(
env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**sac_trainer_kwargs
)
eval_path_collector = ContextualPathCollector(
eval_env,
MakeDeterministic(policy),
observation_key=observation_key,
context_keys_for_policy=[context_key],
)
exploration_policy = create_exploration_policy(
policy=policy, env=expl_env, **exploration_policy_kwargs)
expl_path_collector = ContextualPathCollector(
expl_env,
exploration_policy,
observation_key=observation_key,
context_keys_for_policy=[context_key],
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs
)
algorithm.to(ptu.device)
if save_video:
rollout_function = partial(
rf.contextual_rollout,
max_path_length=max_path_length,
observation_key=observation_key,
context_keys_for_policy=[context_key],
)
renderer = EnvRenderer(**renderer_kwargs)
def add_images(env, state_distribution):
state_env = env.env
image_goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=state_distribution,
image_goal_key='image_desired_goal',
renderer=renderer,
)
img_env = InsertImageEnv(state_env, renderer=renderer)
return ContextualEnv(
img_env,
context_distribution=image_goal_distribution,
reward_fn=eval_reward,
observation_key=observation_key,
update_env_info_fn=delete_info,
)
img_eval_env = add_images(eval_env, eval_context_distrib)
img_expl_env = add_images(expl_env, expl_context_distrib)
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
MakeDeterministic(policy),
tag="eval",
imsize=renderer.width,
image_format=renderer.output_image_format,
**save_video_kwargs
)
expl_video_func = get_save_video_function(
rollout_function,
img_expl_env,
exploration_policy,
tag="train",
imsize=renderer.width,
image_format=renderer.output_image_format,
**save_video_kwargs
)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.post_train_funcs.append(expl_video_func)
algorithm.train()
def her_sac_experiment(
max_path_length,
qf_kwargs,
twin_sac_trainer_kwargs,
replay_buffer_kwargs,
policy_kwargs,
evaluation_goal_sampling_mode,
exploration_goal_sampling_mode,
algo_kwargs,
save_video=True,
env_id=None,
env_class=None,
env_kwargs=None,
observation_key='state_observation',
desired_goal_key='state_desired_goal',
achieved_goal_key='state_achieved_goal',
# Video parameters
save_video_kwargs=None,
exploration_policy_kwargs=None,
**kwargs
):
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
import rlkit.samplers.rollout_functions as rf
import rlkit.torch.pytorch_util as ptu
from rlkit.data_management.obs_dict_replay_buffer import \
ObsDictRelabelingBuffer
from rlkit.torch.networks import ConcatMlp
from rlkit.torch.sac.policies import TanhGaussianPolicy
from rlkit.torch.torch_rl_algorithm import TorchBatchRLAlgorithm
if not save_video_kwargs:
save_video_kwargs = {}
if env_kwargs is None:
env_kwargs = {}
assert env_id or env_class
if env_id:
import gym
import multiworld
multiworld.register_all_envs()
train_env = gym.make(env_id)
eval_env = gym.make(env_id)
else:
eval_env = env_class(**env_kwargs)
train_env = env_class(**env_kwargs)
obs_dim = (
train_env.observation_space.spaces[observation_key].low.size
+ train_env.observation_space.spaces[desired_goal_key].low.size
)
action_dim = train_env.action_space.low.size
qf1 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs
)
qf2 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs
)
target_qf1 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs
)
target_qf2 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs
)
policy = TanhGaussianPolicy(
obs_dim=obs_dim,
action_dim=action_dim,
**policy_kwargs
)
replay_buffer = ObsDictRelabelingBuffer(
env=train_env,
observation_key=observation_key,
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
**replay_buffer_kwargs
)
trainer = SACTrainer(
env=train_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**twin_sac_trainer_kwargs
)
trainer = HERTrainer(trainer)
eval_path_collector = GoalConditionedPathCollector(
eval_env,
MakeDeterministic(policy),
max_path_length,
observation_key=observation_key,
desired_goal_key=desired_goal_key,
goal_sampling_mode=evaluation_goal_sampling_mode,
)
exploration_policy = create_exploration_policy(
train_env, policy, **exploration_policy_kwargs)
expl_path_collector = GoalConditionedPathCollector(
train_env,
exploration_policy,
max_path_length,
observation_key=observation_key,
desired_goal_key=desired_goal_key,
goal_sampling_mode=exploration_goal_sampling_mode,
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=train_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs
)
algorithm.to(ptu.device)
if save_video:
rollout_function = rf.create_rollout_function(
rf.multitask_rollout,
max_path_length=max_path_length,
observation_key=observation_key,
desired_goal_key=desired_goal_key,
return_dict_obs=True,
)
eval_video_func = get_save_video_function(
rollout_function,
eval_env,
MakeDeterministic(policy),
tag="eval",
**save_video_kwargs
)
train_video_func = get_save_video_function(
rollout_function,
train_env,
exploration_policy,
tag="expl",
**save_video_kwargs
)
# algorithm.post_train_funcs.append(plot_buffer_function(
# save_video_period, 'state_achieved_goal'))
# algorithm.post_train_funcs.append(plot_buffer_function(
# save_video_period, 'state_desired_goal'))
algorithm.post_train_funcs.append(eval_video_func)
algorithm.post_train_funcs.append(train_video_func)
algorithm.train()
def rig_experiment(
max_path_length,
qf_kwargs,
sac_trainer_kwargs,
replay_buffer_kwargs,
policy_kwargs,
algo_kwargs,
train_vae_kwargs,
env_id=None,
env_class=None,
env_kwargs=None,
observation_key='latent_observation',
desired_goal_key='latent_desired_goal',
state_goal_key='state_desired_goal',
state_observation_key='state_observation',
image_goal_key='image_desired_goal',
exploration_policy_kwargs=None,
evaluation_goal_sampling_mode=None,
exploration_goal_sampling_mode=None,
# Video parameters
save_video=True,
save_video_kwargs=None,
renderer_kwargs=None,
imsize=48,
pretrained_vae_path="",
init_camera=None,
):
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if not save_video_kwargs:
save_video_kwargs = {}
if not renderer_kwargs:
renderer_kwargs = {}
renderer = EnvRenderer(init_camera=init_camera, **renderer_kwargs)
def contextual_env_distrib_and_reward(env_id, env_class, env_kwargs,
goal_sampling_mode):
state_env = get_gym_env(env_id,
env_class=env_class,
env_kwargs=env_kwargs)
renderer = EnvRenderer(init_camera=init_camera, **renderer_kwargs)
img_env = InsertImageEnv(state_env, renderer=renderer)
encoded_env = EncoderWrappedEnv(
img_env,
model,
dict(image_observation="latent_observation", ),
)
if goal_sampling_mode == "vae_prior":
latent_goal_distribution = PriorDistribution(
model.representation_size,
desired_goal_key,
)
diagnostics = StateImageGoalDiagnosticsFn({}, )
elif goal_sampling_mode == "reset_of_env":
state_goal_env = get_gym_env(env_id,
env_class=env_class,
env_kwargs=env_kwargs)
state_goal_distribution = GoalDictDistributionFromMultitaskEnv(
state_goal_env,
desired_goal_keys=[state_goal_key],
)
image_goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=state_goal_distribution,
image_goal_key=image_goal_key,
renderer=renderer,
)
latent_goal_distribution = AddLatentDistribution(
image_goal_distribution,
image_goal_key,
desired_goal_key,
model,
)
if hasattr(state_goal_env, 'goal_conditioned_diagnostics'):
diagnostics = GoalConditionedDiagnosticsToContextualDiagnostics(
state_goal_env.goal_conditioned_diagnostics,
desired_goal_key=state_goal_key,
observation_key=state_observation_key,
)
else:
state_goal_env.get_contextual_diagnostics
diagnostics = state_goal_env.get_contextual_diagnostics
else:
raise NotImplementedError('unknown goal sampling method: %s' %
goal_sampling_mode)
reward_fn = DistanceRewardFn(
observation_key=observation_key,
desired_goal_key=desired_goal_key,
)
env = ContextualEnv(
encoded_env,
context_distribution=latent_goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=[diagnostics],
)
return env, latent_goal_distribution, reward_fn
if pretrained_vae_path:
model = load_local_or_remote_file(pretrained_vae_path)
else:
model = train_vae(train_vae_kwargs, env_kwargs, env_id, env_class,
imsize, init_camera)
expl_env, expl_context_distrib, expl_reward = contextual_env_distrib_and_reward(
env_id, env_class, env_kwargs, exploration_goal_sampling_mode)
eval_env, eval_context_distrib, eval_reward = contextual_env_distrib_and_reward(
env_id, env_class, env_kwargs, evaluation_goal_sampling_mode)
context_key = desired_goal_key
obs_dim = (expl_env.observation_space.spaces[observation_key].low.size +
expl_env.observation_space.spaces[context_key].low.size)
action_dim = expl_env.action_space.low.size
def create_qf():
return ConcatMlp(input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs)
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
policy = TanhGaussianPolicy(obs_dim=obs_dim,
action_dim=action_dim,
**policy_kwargs)
def concat_context_to_obs(batch, *args, **kwargs):
obs = batch['observations']
next_obs = batch['next_observations']
context = batch[context_key]
batch['observations'] = np.concatenate([obs, context], axis=1)
batch['next_observations'] = np.concatenate([next_obs, context],
axis=1)
return batch
replay_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=[context_key],
observation_keys=[observation_key],
observation_key=observation_key,
context_distribution=expl_context_distrib,
sample_context_from_obs_dict_fn=RemapKeyFn(
{context_key: observation_key}),
reward_fn=eval_reward,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs)
trainer = SACTrainer(env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**sac_trainer_kwargs)
eval_path_collector = ContextualPathCollector(
eval_env,
MakeDeterministic(policy),
observation_key=observation_key,
context_keys_for_policy=[
context_key,
],
)
exploration_policy = create_exploration_policy(expl_env, policy,
**exploration_policy_kwargs)
expl_path_collector = ContextualPathCollector(
expl_env,
exploration_policy,
observation_key=observation_key,
context_keys_for_policy=[
context_key,
],
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs)
algorithm.to(ptu.device)
if save_video:
expl_video_func = RIGVideoSaveFunction(
model,
expl_path_collector,
"train",
decode_goal_image_key="image_decoded_goal",
reconstruction_key="image_reconstruction",
rows=2,
columns=5,
unnormalize=True,
# max_path_length=200,
imsize=48,
image_format=renderer.output_image_format,
**save_video_kwargs)
algorithm.post_train_funcs.append(expl_video_func)
eval_video_func = RIGVideoSaveFunction(
model,
eval_path_collector,
"eval",
goal_image_key=image_goal_key,
decode_goal_image_key="image_decoded_goal",
reconstruction_key="image_reconstruction",
num_imgs=4,
rows=2,
columns=5,
unnormalize=True,
# max_path_length=200,
imsize=48,
image_format=renderer.output_image_format,
**save_video_kwargs)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.train()
def probabilistic_goal_reaching_experiment(
max_path_length,
qf_kwargs,
policy_kwargs,
pgr_trainer_kwargs,
replay_buffer_kwargs,
algo_kwargs,
env_id,
discount_factor,
reward_type,
# Dynamics model
dynamics_model_version,
dynamics_model_config,
dynamics_delta_model_config=None,
dynamics_adam_config=None,
dynamics_ensemble_kwargs=None,
# Discount model
learn_discount_model=False,
discount_adam_config=None,
discount_model_config=None,
prior_discount_weight_schedule_kwargs=None,
# Environment
env_class=None,
env_kwargs=None,
observation_key='state_observation',
desired_goal_key='state_desired_goal',
exploration_policy_kwargs=None,
action_noise_scale=0.,
num_presampled_goals=4096,
success_threshold=0.05,
# Video / visualization parameters
save_video=True,
save_video_kwargs=None,
video_renderer_kwargs=None,
plot_renderer_kwargs=None,
eval_env_ids=None,
# Debugging params
visualize_dynamics=False,
visualize_discount_model=False,
visualize_all_plots=False,
plot_discount=False,
plot_reward=False,
plot_bootstrap_value=False,
# env specific-params
normalize_distances_for_full_state_ant=False,
):
if dynamics_ensemble_kwargs is None:
dynamics_ensemble_kwargs = {}
if eval_env_ids is None:
eval_env_ids = {'eval': env_id}
if discount_model_config is None:
discount_model_config = {}
if dynamics_delta_model_config is None:
dynamics_delta_model_config = {}
if dynamics_adam_config is None:
dynamics_adam_config = {}
if discount_adam_config is None:
discount_adam_config = {}
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if not save_video_kwargs:
save_video_kwargs = {}
if not video_renderer_kwargs:
video_renderer_kwargs = {}
if not plot_renderer_kwargs:
plot_renderer_kwargs = video_renderer_kwargs.copy()
plot_renderer_kwargs['dpi'] = 48
context_key = desired_goal_key
stub_env = get_gym_env(
env_id,
env_class=env_class,
env_kwargs=env_kwargs,
unwrap_timed_envs=True,
)
is_gym_env = (
isinstance(stub_env, FetchEnv) or isinstance(stub_env, AntXYGoalEnv)
or isinstance(stub_env, AntFullPositionGoalEnv)
# or isinstance(stub_env, HopperFullPositionGoalEnv)
)
is_ant_full_pos = isinstance(stub_env, AntFullPositionGoalEnv)
if is_gym_env:
achieved_goal_key = desired_goal_key.replace('desired', 'achieved')
ob_keys_to_save_in_buffer = [observation_key, achieved_goal_key]
elif isinstance(stub_env, SawyerPickAndPlaceEnvYZ):
achieved_goal_key = desired_goal_key.replace('desired', 'achieved')
ob_keys_to_save_in_buffer = [observation_key, achieved_goal_key]
else:
achieved_goal_key = observation_key
ob_keys_to_save_in_buffer = [observation_key]
# TODO move all env-specific code to other file
if isinstance(stub_env, SawyerDoorHookEnv):
init_camera = sawyer_door_env_camera_v0
elif isinstance(stub_env, SawyerPushAndReachXYEnv):
init_camera = sawyer_init_camera_zoomed_in
elif isinstance(stub_env, SawyerPickAndPlaceEnvYZ):
init_camera = sawyer_pick_and_place_camera
else:
init_camera = None
full_ob_space = stub_env.observation_space
action_space = stub_env.action_space
state_to_goal = StateToGoalFn(stub_env)
dynamics_model = create_goal_dynamics_model(
full_ob_space[observation_key],
action_space,
full_ob_space[achieved_goal_key],
dynamics_model_version,
state_to_goal,
dynamics_model_config,
dynamics_delta_model_config,
ensemble_model_kwargs=dynamics_ensemble_kwargs,
)
sample_context_from_obs_dict_fn = RemapKeyFn(
{context_key: achieved_goal_key})
def contextual_env_distrib_reward(_env_id,
_env_class=None,
_env_kwargs=None):
base_env = get_gym_env(
_env_id,
env_class=env_class,
env_kwargs=env_kwargs,
unwrap_timed_envs=True,
)
if init_camera:
base_env.initialize_camera(init_camera)
if (isinstance(stub_env, AntFullPositionGoalEnv)
and normalize_distances_for_full_state_ant):
base_env = NormalizeAntFullPositionGoalEnv(base_env)
normalize_env = base_env
else:
normalize_env = None
env = NoisyAction(base_env, action_noise_scale)
diag_fns = []
if is_gym_env:
goal_distribution = GoalDictDistributionFromGymGoalEnv(
env,
desired_goal_key=desired_goal_key,
)
diag_fns.append(
GenericGoalConditionedContextualDiagnostics(
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
success_threshold=success_threshold,
))
else:
goal_distribution = GoalDictDistributionFromMultitaskEnv(
env,
desired_goal_keys=[desired_goal_key],
)
diag_fns.append(
GoalConditionedDiagnosticsToContextualDiagnostics(
env.goal_conditioned_diagnostics,
desired_goal_key=desired_goal_key,
observation_key=observation_key,
))
if isinstance(stub_env, AntFullPositionGoalEnv):
diag_fns.append(
AntFullPositionGoalEnvDiagnostics(
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
success_threshold=success_threshold,
normalize_env=normalize_env,
))
# if isinstance(stub_env, HopperFullPositionGoalEnv):
# diag_fns.append(
# HopperFullPositionGoalEnvDiagnostics(
# desired_goal_key=desired_goal_key,
# achieved_goal_key=achieved_goal_key,
# success_threshold=success_threshold,
# )
# )
achieved_from_ob = IndexIntoAchievedGoal(achieved_goal_key, )
if reward_type == 'sparse':
distance_fn = L2Distance(
achieved_goal_from_observation=achieved_from_ob,
desired_goal_key=desired_goal_key,
)
reward_fn = ThresholdDistanceReward(distance_fn, success_threshold)
elif reward_type == 'negative_distance':
reward_fn = NegativeL2Distance(
achieved_goal_from_observation=achieved_from_ob,
desired_goal_key=desired_goal_key,
)
else:
reward_fn = ProbabilisticGoalRewardFn(
dynamics_model,
state_key=observation_key,
context_key=context_key,
reward_type=reward_type,
discount_factor=discount_factor,
)
goal_distribution = PresampledDistribution(goal_distribution,
num_presampled_goals)
final_env = ContextualEnv(
env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=diag_fns,
update_env_info_fn=delete_info,
)
return final_env, goal_distribution, reward_fn
expl_env, expl_context_distrib, reward_fn = contextual_env_distrib_reward(
env_id,
env_class,
env_kwargs,
)
obs_dim = (expl_env.observation_space.spaces[observation_key].low.size +
expl_env.observation_space.spaces[context_key].low.size)
action_dim = expl_env.action_space.low.size
def create_qf():
return ConcatMlp(input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs)
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
def create_policy():
obs_processor = MultiHeadedMlp(input_size=obs_dim,
output_sizes=[action_dim, action_dim],
**policy_kwargs)
return PolicyFromDistributionGenerator(TanhGaussian(obs_processor))
policy = create_policy()
def concat_context_to_obs(batch, replay_buffer, obs_dict, next_obs_dict,
new_contexts):
obs = batch['observations']
next_obs = batch['next_observations']
batch['original_observations'] = obs
batch['original_next_observations'] = next_obs
context = batch[context_key]
batch['observations'] = np.concatenate([obs, context], axis=1)
batch['next_observations'] = np.concatenate([next_obs, context],
axis=1)
return batch
replay_buffer = ContextualRelabelingReplayBuffer(
env=expl_env,
context_keys=[context_key],
observation_keys=ob_keys_to_save_in_buffer,
context_distribution=expl_context_distrib,
sample_context_from_obs_dict_fn=sample_context_from_obs_dict_fn,
reward_fn=reward_fn,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs)
def create_trainer():
trainers = OrderedDict()
if learn_discount_model:
discount_model = create_discount_model(
ob_space=stub_env.observation_space[observation_key],
goal_space=stub_env.observation_space[context_key],
action_space=stub_env.action_space,
model_kwargs=discount_model_config)
optimizer = optim.Adam(discount_model.parameters(),
**discount_adam_config)
discount_trainer = DiscountModelTrainer(
discount_model,
optimizer,
observation_key='observations',
next_observation_key='original_next_observations',
goal_key=context_key,
state_to_goal_fn=state_to_goal,
)
trainers['discount_trainer'] = discount_trainer
else:
discount_model = None
if prior_discount_weight_schedule_kwargs is not None:
schedule = create_schedule(**prior_discount_weight_schedule_kwargs)
else:
schedule = None
pgr_trainer = PGRTrainer(env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
discount=discount_factor,
discount_model=discount_model,
prior_discount_weight_schedule=schedule,
**pgr_trainer_kwargs)
trainers[''] = pgr_trainer
optimizers = [
pgr_trainer.qf1_optimizer,
pgr_trainer.qf2_optimizer,
pgr_trainer.alpha_optimizer,
pgr_trainer.policy_optimizer,
]
if dynamics_model_version in {
'learned_model',
'learned_model_ensemble',
'learned_model_laplace',
'learned_model_laplace_global_variance',
'learned_model_gaussian_global_variance',
}:
model_opt = optim.Adam(dynamics_model.parameters(),
**dynamics_adam_config)
elif dynamics_model_version in {
'fixed_standard_laplace',
'fixed_standard_gaussian',
}:
model_opt = None
else:
raise NotImplementedError()
model_trainer = GenerativeGoalDynamicsModelTrainer(
dynamics_model,
model_opt,
state_to_goal=state_to_goal,
observation_key='original_observations',
next_observation_key='original_next_observations',
)
trainers['dynamics_trainer'] = model_trainer
optimizers.append(model_opt)
return JointTrainer(trainers), pgr_trainer
trainer, pgr_trainer = create_trainer()
eval_policy = MakeDeterministic(policy)
def create_eval_path_collector(some_eval_env):
return ContextualPathCollector(
some_eval_env,
eval_policy,
observation_key=observation_key,
context_keys_for_policy=[context_key],
)
path_collectors = dict()
eval_env_name_to_env_and_context_distrib = dict()
for name, extra_env_id in eval_env_ids.items():
env, context_distrib, _ = contextual_env_distrib_reward(extra_env_id)
path_collectors[name] = create_eval_path_collector(env)
eval_env_name_to_env_and_context_distrib[name] = (env, context_distrib)
eval_path_collector = JointPathCollector(path_collectors)
exploration_policy = create_exploration_policy(expl_env, policy,
**exploration_policy_kwargs)
expl_path_collector = ContextualPathCollector(
expl_env,
exploration_policy,
observation_key=observation_key,
context_keys_for_policy=[context_key],
)
def get_eval_diagnostics(key_to_paths):
stats = OrderedDict()
for eval_env_name, paths in key_to_paths.items():
env, _ = eval_env_name_to_env_and_context_distrib[eval_env_name]
stats.update(
add_prefix(
env.get_diagnostics(paths),
eval_env_name,
divider='/',
))
stats.update(
add_prefix(
eval_util.get_generic_path_information(paths),
eval_env_name,
divider='/',
))
return stats
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=None,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
evaluation_get_diagnostic_functions=[get_eval_diagnostics],
**algo_kwargs)
algorithm.to(ptu.device)
if normalize_distances_for_full_state_ant and is_ant_full_pos:
qpos_weights = expl_env.unwrapped.presampled_qpos.std(axis=0)
else:
qpos_weights = None
if save_video:
if is_gym_env:
video_renderer = GymEnvRenderer(**video_renderer_kwargs)
def set_goal_for_visualization(env, policy, o):
goal = o[desired_goal_key]
if normalize_distances_for_full_state_ant and is_ant_full_pos:
unnormalized_goal = goal * qpos_weights
env.unwrapped.goal = unnormalized_goal
else:
env.unwrapped.goal = goal
rollout_function = partial(
rf.contextual_rollout,
max_path_length=max_path_length,
observation_key=observation_key,
context_keys_for_policy=[context_key],
reset_callback=set_goal_for_visualization,
)
else:
video_renderer = EnvRenderer(**video_renderer_kwargs)
rollout_function = partial(
rf.contextual_rollout,
max_path_length=max_path_length,
observation_key=observation_key,
context_keys_for_policy=[context_key],
reset_callback=None,
)
renderers = OrderedDict(image_observation=video_renderer, )
state_env = expl_env.env
state_space = state_env.observation_space[observation_key]
low = state_space.low.min()
high = state_space.high.max()
y = np.linspace(low, high, num=video_renderer.image_chw[1])
x = np.linspace(low, high, num=video_renderer.image_chw[2])
all_xy_np = np.transpose([np.tile(x, len(y)), np.repeat(y, len(x))])
all_xy_torch = ptu.from_numpy(all_xy_np)
num_states = all_xy_torch.shape[0]
if visualize_dynamics:
def create_dynamics_visualizer(show_prob, vary_state=False):
def get_prob(obs_dict, action):
obs = obs_dict['state_observation']
obs_torch = ptu.from_numpy(obs)[None]
action_torch = ptu.from_numpy(action)[None]
if vary_state:
action_repeated = torch.zeros((num_states, 2))
dist = dynamics_model(all_xy_torch, action_repeated)
goal = ptu.from_numpy(
obs_dict['state_desired_goal'][None])
log_probs = dist.log_prob(goal)
else:
dist = dynamics_model(obs_torch, action_torch)
log_probs = dist.log_prob(all_xy_torch)
if show_prob:
return log_probs.exp()
else:
return log_probs
return get_prob
renderers['log_prob'] = ValueRenderer(
create_dynamics_visualizer(False), **video_renderer_kwargs)
# renderers['prob'] = ValueRenderer(
# create_dynamics_visualizer(True), **video_renderer_kwargs
# )
renderers['log_prob_vary_state'] = ValueRenderer(
create_dynamics_visualizer(False, vary_state=True),
only_get_image_once_per_episode=True,
max_out_walls=isinstance(stub_env, PickAndPlaceEnv),
**video_renderer_kwargs)
# renderers['prob_vary_state'] = ValueRenderer(
# create_dynamics_visualizer(True, vary_state=True),
# **video_renderer_kwargs)
if visualize_discount_model and pgr_trainer.discount_model:
def get_discount_values(obs, action):
obs = obs['state_observation']
obs_torch = ptu.from_numpy(obs)[None]
combined_obs = torch.cat([
obs_torch.repeat(num_states, 1),
all_xy_torch,
],
dim=1)
action_torch = ptu.from_numpy(action)[None]
action_repeated = action_torch.repeat(num_states, 1)
return pgr_trainer.discount_model(combined_obs,
action_repeated)
renderers['discount_model'] = ValueRenderer(
get_discount_values,
states_to_eval=all_xy_torch,
**video_renderer_kwargs)
if 'log_prob' in renderers and 'discount_model' in renderers:
renderers['log_prob_time_discount'] = ProductRenderer(
renderers['discount_model'], renderers['log_prob'],
**video_renderer_kwargs)
def get_reward(obs_dict, action, next_obs_dict):
o = batchify(obs_dict)
a = batchify(action)
next_o = batchify(next_obs_dict)
reward = reward_fn(o, a, next_o, next_o)
return reward[0]
def get_bootstrap(obs_dict, action, next_obs_dict, return_float=True):
context_pt = ptu.from_numpy(obs_dict[context_key][None])
o_pt = ptu.from_numpy(obs_dict[observation_key][None])
next_o_pt = ptu.from_numpy(next_obs_dict[observation_key][None])
action_torch = ptu.from_numpy(action[None])
bootstrap, *_ = pgr_trainer.get_bootstrap_stats(
torch.cat((o_pt, context_pt), dim=1),
action_torch,
torch.cat((next_o_pt, context_pt), dim=1),
)
if return_float:
return ptu.get_numpy(bootstrap)[0, 0]
else:
return bootstrap
def get_discount(obs_dict, action, next_obs_dict):
bootstrap = get_bootstrap(obs_dict,
action,
next_obs_dict,
return_float=False)
reward_np = get_reward(obs_dict, action, next_obs_dict)
reward = ptu.from_numpy(reward_np[None, None])
context_pt = ptu.from_numpy(obs_dict[context_key][None])
o_pt = ptu.from_numpy(obs_dict[observation_key][None])
obs = torch.cat((o_pt, context_pt), dim=1)
actions = ptu.from_numpy(action[None])
discount = pgr_trainer.get_discount_factor(
bootstrap,
reward,
obs,
actions,
)
if isinstance(discount, torch.Tensor):
discount = ptu.get_numpy(discount)[0, 0]
return np.clip(discount, a_min=1e-3, a_max=1)
def create_modify_fn(
title,
set_params=None,
scientific=True,
):
def modify(ax):
ax.set_title(title)
if set_params:
ax.set(**set_params)
if scientific:
scaler = ScalarFormatter(useOffset=True)
scaler.set_powerlimits((1, 1))
ax.yaxis.set_major_formatter(scaler)
ax.ticklabel_format(axis='y', style='sci')
return modify
def add_left_margin(fig):
fig.subplots_adjust(left=0.2)
if visualize_all_plots or plot_discount:
renderers['discount'] = DynamicNumberEnvRenderer(
dynamic_number_fn=get_discount,
modify_ax_fn=create_modify_fn(
title='discount',
set_params=dict(
# yscale='log',
ylim=[-0.05, 1.1], ),
# scientific=False,
),
modify_fig_fn=add_left_margin,
# autoscale_y=False,
**plot_renderer_kwargs)
if visualize_all_plots or plot_reward:
renderers['reward'] = DynamicNumberEnvRenderer(
dynamic_number_fn=get_reward,
modify_ax_fn=create_modify_fn(title='reward',
# scientific=False,
),
modify_fig_fn=add_left_margin,
**plot_renderer_kwargs)
if visualize_all_plots or plot_bootstrap_value:
renderers['bootstrap-value'] = DynamicNumberEnvRenderer(
dynamic_number_fn=get_bootstrap,
modify_ax_fn=create_modify_fn(title='bootstrap value',
# scientific=False,
),
modify_fig_fn=add_left_margin,
**plot_renderer_kwargs)
def add_images(env, state_distribution):
state_env = env.env
if is_gym_env:
goal_distribution = state_distribution
else:
goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=state_distribution,
image_goal_key='image_desired_goal',
renderer=video_renderer,
)
context_env = ContextualEnv(
state_env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
update_env_info_fn=delete_info,
)
return InsertDebugImagesEnv(
context_env,
renderers=renderers,
)
img_expl_env = add_images(expl_env, expl_context_distrib)
if is_gym_env:
imgs_to_show = list(renderers.keys())
else:
imgs_to_show = ['image_desired_goal'] + list(renderers.keys())
img_formats = [video_renderer.output_image_format]
img_formats += [r.output_image_format for r in renderers.values()]
expl_video_func = get_save_video_function(
rollout_function,
img_expl_env,
exploration_policy,
tag="xplor",
imsize=video_renderer.image_chw[1],
image_formats=img_formats,
keys_to_show=imgs_to_show,
**save_video_kwargs)
algorithm.post_train_funcs.append(expl_video_func)
for eval_env_name, (env, context_distrib) in (
eval_env_name_to_env_and_context_distrib.items()):
img_eval_env = add_images(env, context_distrib)
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
eval_policy,
tag=eval_env_name,
imsize=video_renderer.image_chw[1],
image_formats=img_formats,
keys_to_show=imgs_to_show,
**save_video_kwargs)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.train()
def awac_rig_experiment(
max_path_length,
qf_kwargs,
trainer_kwargs,
replay_buffer_kwargs,
policy_kwargs,
algo_kwargs,
train_vae_kwargs,
policy_class=TanhGaussianPolicy,
env_id=None,
env_class=None,
env_kwargs=None,
reward_kwargs=None,
observation_key='latent_observation',
desired_goal_key='latent_desired_goal',
state_observation_key='state_observation',
state_goal_key='state_desired_goal',
image_goal_key='image_desired_goal',
path_loader_class=MDPPathLoader,
demo_replay_buffer_kwargs=None,
path_loader_kwargs=None,
env_demo_path='',
env_offpolicy_data_path='',
debug=False,
epsilon=1.0,
exploration_policy_kwargs=None,
evaluation_goal_sampling_mode=None,
exploration_goal_sampling_mode=None,
add_env_demos=False,
add_env_offpolicy_data=False,
save_paths=False,
load_demos=False,
pretrain_policy=False,
pretrain_rl=False,
save_pretrained_algorithm=False,
# Video parameters
save_video=True,
save_video_kwargs=None,
renderer_kwargs=None,
imsize=84,
pretrained_vae_path="",
presampled_goals_path="",
init_camera=None,
qf_class=ConcatMlp,
):
#Kwarg Definitions
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if demo_replay_buffer_kwargs is None:
demo_replay_buffer_kwargs = {}
if path_loader_kwargs is None:
path_loader_kwargs = {}
if not save_video_kwargs:
save_video_kwargs = {}
if not renderer_kwargs:
renderer_kwargs = {}
if debug:
max_path_length = 5
algo_kwargs['batch_size'] = 5
algo_kwargs['num_epochs'] = 5
algo_kwargs['num_eval_steps_per_epoch'] = 100
algo_kwargs['num_expl_steps_per_train_loop'] = 100
algo_kwargs['num_trains_per_train_loop'] = 10
algo_kwargs['min_num_steps_before_training'] = 100
algo_kwargs['min_num_steps_before_training'] = 100
trainer_kwargs['bc_num_pretrain_steps'] = min(
10, trainer_kwargs.get('bc_num_pretrain_steps', 0))
trainer_kwargs['q_num_pretrain1_steps'] = min(
10, trainer_kwargs.get('q_num_pretrain1_steps', 0))
trainer_kwargs['q_num_pretrain2_steps'] = min(
10, trainer_kwargs.get('q_num_pretrain2_steps', 0))
#Enviorment Wrapping
renderer = EnvRenderer(init_camera=init_camera, **renderer_kwargs)
def contextual_env_distrib_and_reward(env_id, env_class, env_kwargs,
goal_sampling_mode,
presampled_goals_path):
state_env = get_gym_env(env_id,
env_class=env_class,
env_kwargs=env_kwargs)
renderer = EnvRenderer(init_camera=init_camera, **renderer_kwargs)
img_env = InsertImageEnv(state_env, renderer=renderer)
# encoded_env = EncoderWrappedEnv(
# img_env,
# model,
# dict(image_observation="latent_observation", ),
# )
# if goal_sampling_mode == "vae_prior":
# latent_goal_distribution = PriorDistribution(
# model.representation_size,
# desired_goal_key,
# )
# diagnostics = StateImageGoalDiagnosticsFn({}, )
# elif goal_sampling_mode == "presampled":
# diagnostics = state_env.get_contextual_diagnostics
# image_goal_distribution = PresampledPathDistribution(
# presampled_goals_path,
# )
# latent_goal_distribution = AddLatentDistribution(
# image_goal_distribution,
# image_goal_key,
# desired_goal_key,
# model,
# )
# elif goal_sampling_mode == "reset_of_env":
# state_goal_env = get_gym_env(env_id, env_class=env_class, env_kwargs=env_kwargs)
# state_goal_distribution = GoalDictDistributionFromMultitaskEnv(
# state_goal_env,
# desired_goal_keys=[state_goal_key],
# )
# image_goal_distribution = AddImageDistribution(
# env=state_env,
# base_distribution=state_goal_distribution,
# image_goal_key=image_goal_key,
# renderer=renderer,
# )
# latent_goal_distribution = AddLatentDistribution(
# image_goal_distribution,
# image_goal_key,
# desired_goal_key,
# model,
# )
# no_goal_distribution = PriorDistribution(
# representation_size=0,
# key="no_goal",
# )
# diagnostics = state_goal_env.get_contextual_diagnostics
# else:
# error
diagnostics = StateImageGoalDiagnosticsFn({}, )
no_goal_distribution = PriorDistribution(
representation_size=0,
key="no_goal",
)
reward_fn = GraspingRewardFn(
# img_env, # state_env,
# observation_key=observation_key,
# desired_goal_key=desired_goal_key,
# **reward_kwargs
)
env = ContextualEnv(
img_env, # state_env,
context_distribution=no_goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=[diagnostics],
)
return env, no_goal_distribution, reward_fn
#VAE Setup
if pretrained_vae_path:
model = load_local_or_remote_file(pretrained_vae_path)
else:
model = train_vae(train_vae_kwargs, env_kwargs, env_id, env_class,
imsize, init_camera)
path_loader_kwargs['model_path'] = pretrained_vae_path
#Enviorment Definitions
expl_env, expl_context_distrib, expl_reward = contextual_env_distrib_and_reward(
env_id, env_class, env_kwargs, exploration_goal_sampling_mode,
presampled_goals_path)
eval_env, eval_context_distrib, eval_reward = contextual_env_distrib_and_reward(
env_id, env_class, env_kwargs, evaluation_goal_sampling_mode,
presampled_goals_path)
path_loader_kwargs['env'] = eval_env
#AWAC Code
if add_env_demos:
path_loader_kwargs["demo_paths"].append(env_demo_path)
if add_env_offpolicy_data:
path_loader_kwargs["demo_paths"].append(env_offpolicy_data_path)
#Key Setting
context_key = desired_goal_key
obs_dim = (expl_env.observation_space.spaces[observation_key].low.size +
expl_env.observation_space.spaces[context_key].low.size)
action_dim = expl_env.action_space.low.size
state_rewards = reward_kwargs.get('reward_type', 'dense') == 'wrapped_env'
# if state_rewards:
# mapper = RemapKeyFn({context_key: observation_key, state_goal_key: state_observation_key})
# obs_keys = [state_observation_key, observation_key]
# cont_keys = [state_goal_key, context_key]
# else:
mapper = RemapKeyFn({context_key: observation_key})
obs_keys = [observation_key]
cont_keys = [context_key]
#Replay Buffer
def concat_context_to_obs(batch, replay_buffer, obs_dict, next_obs_dict,
new_contexts):
obs = batch['observations']
next_obs = batch['next_observations']
context = batch[context_key]
batch['observations'] = np.concatenate([obs, context], axis=1)
batch['next_observations'] = np.concatenate([next_obs, context],
axis=1)
return batch
replay_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=cont_keys,
observation_keys=obs_keys,
observation_key=observation_key,
context_distribution=expl_context_distrib,
sample_context_from_obs_dict_fn=mapper,
reward_fn=eval_reward,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs)
replay_buffer_kwargs.update(demo_replay_buffer_kwargs)
demo_train_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=cont_keys,
observation_keys=obs_keys,
observation_key=observation_key,
context_distribution=expl_context_distrib,
sample_context_from_obs_dict_fn=mapper,
reward_fn=eval_reward,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs)
demo_test_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=cont_keys,
observation_keys=obs_keys,
observation_key=observation_key,
context_distribution=expl_context_distrib,
sample_context_from_obs_dict_fn=mapper,
reward_fn=eval_reward,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs)
#Neural Network Architecture
def create_qf():
# return ConcatMlp(
# input_size=obs_dim + action_dim,
# output_size=1,
# **qf_kwargs
# )
if qf_class is ConcatMlp:
qf_kwargs["input_size"] = obs_dim + action_dim
if qf_class is ConcatCNN:
qf_kwargs["added_fc_input_size"] = action_dim
return qf_class(output_size=1, **qf_kwargs)
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
policy = policy_class(
obs_dim=obs_dim,
action_dim=action_dim,
**policy_kwargs,
)
#Path Collectors
eval_path_collector = ContextualPathCollector(
eval_env,
MakeDeterministic(policy),
observation_key=observation_key,
context_keys_for_policy=[
context_key,
],
)
exploration_policy = create_exploration_policy(expl_env, policy,
**exploration_policy_kwargs)
expl_path_collector = ContextualPathCollector(
expl_env,
exploration_policy,
observation_key=observation_key,
context_keys_for_policy=[
context_key,
],
)
#Algorithm
trainer = AWACTrainer(env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**trainer_kwargs)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs)
algorithm.to(ptu.device)
#Video Saving
if save_video:
expl_video_func = RIGVideoSaveFunction(
model,
expl_path_collector,
"train",
# decode_goal_image_key="image_decoded_goal",
# reconstruction_key="image_reconstruction",
rows=2,
columns=5,
unnormalize=True,
imsize=imsize,
image_format=renderer.output_image_format,
**save_video_kwargs)
algorithm.post_train_funcs.append(expl_video_func)
eval_video_func = RIGVideoSaveFunction(
model,
eval_path_collector,
"eval",
# goal_image_key=image_goal_key,
# decode_goal_image_key="image_decoded_goal",
# reconstruction_key="image_reconstruction",
num_imgs=4,
rows=2,
columns=5,
unnormalize=True,
imsize=imsize,
image_format=renderer.output_image_format,
**save_video_kwargs)
algorithm.post_train_funcs.append(eval_video_func)
#AWAC CODE
if save_paths:
algorithm.post_train_funcs.append(save_paths)
if load_demos:
path_loader = path_loader_class(
trainer,
replay_buffer=replay_buffer,
demo_train_buffer=demo_train_buffer,
demo_test_buffer=demo_test_buffer,
# reward_fn=eval_reward, # omit reward because its recomputed later
**path_loader_kwargs)
path_loader.load_demos()
if pretrain_policy:
trainer.pretrain_policy_with_bc(
policy,
demo_train_buffer,
demo_test_buffer,
trainer.bc_num_pretrain_steps,
)
if pretrain_rl:
trainer.pretrain_q_with_bc_data()
if save_pretrained_algorithm:
p_path = osp.join(logger.get_snapshot_dir(), 'pretrain_algorithm.p')
pt_path = osp.join(logger.get_snapshot_dir(), 'pretrain_algorithm.pt')
data = algorithm._get_snapshot()
data['algorithm'] = algorithm
torch.save(data, open(pt_path, "wb"))
torch.save(data, open(p_path, "wb"))
algorithm.train()
def rl_context_experiment(variant):
import rlkit.torch.pytorch_util as ptu
from rlkit.torch.td3.td3 import TD3 as TD3Trainer
from rlkit.torch.sac.sac import SACTrainer
from rlkit.torch.torch_rl_algorithm import TorchBatchRLAlgorithm
from rlkit.torch.networks import ConcatMlp, TanhMlpPolicy
from rlkit.torch.sac.policies import TanhGaussianPolicy
from rlkit.torch.sac.policies import MakeDeterministic
preprocess_rl_variant(variant)
max_path_length = variant['max_path_length']
observation_key = variant.get('observation_key', 'latent_observation')
desired_goal_key = variant.get('desired_goal_key', 'latent_desired_goal')
achieved_goal_key = variant.get('achieved_goal_key', 'latent_achieved_goal')
contextual_mdp = variant.get('contextual_mdp', True)
print("contextual_mdp:", contextual_mdp)
mask_variant = variant.get('mask_variant', {})
mask_conditioned = mask_variant.get('mask_conditioned', False)
print("mask_conditioned:", mask_conditioned)
if mask_conditioned:
assert contextual_mdp
if 'sac' in variant['algorithm'].lower():
rl_algo = 'sac'
elif 'td3' in variant['algorithm'].lower():
rl_algo = 'td3'
else:
raise NotImplementedError
print("RL algorithm:", rl_algo)
### load the example dataset, if running checkpoints ###
if 'ckpt' in variant:
import os.path as osp
example_set_variant = variant.get('example_set_variant', dict())
example_set_variant['use_cache'] = True
example_set_variant['cache_path'] = osp.join(variant['ckpt'], 'example_dataset.npy')
if mask_conditioned:
env = get_envs(variant)
mask_format = mask_variant['param_variant']['mask_format']
assert mask_format in ['vector', 'matrix', 'distribution', 'cond_distribution']
goal_dim = env.observation_space.spaces[desired_goal_key].low.size
if mask_format in ['vector']:
context_dim_for_networks = goal_dim + goal_dim
elif mask_format in ['matrix', 'distribution', 'cond_distribution']:
context_dim_for_networks = goal_dim + (goal_dim * goal_dim)
else:
raise TypeError
if 'ckpt' in variant:
from rlkit.misc.asset_loader import local_path_from_s3_or_local_path
import os.path as osp
filename = local_path_from_s3_or_local_path(osp.join(variant['ckpt'], 'masks.npy'))
masks = np.load(filename, allow_pickle=True)[()]
else:
masks = get_mask_params(
env=env,
example_set_variant=variant['example_set_variant'],
param_variant=mask_variant['param_variant'],
)
mask_keys = list(masks.keys())
context_keys = [desired_goal_key] + mask_keys
else:
context_keys = [desired_goal_key]
def contextual_env_distrib_and_reward(mode='expl'):
assert mode in ['expl', 'eval']
env = get_envs(variant)
if mode == 'expl':
goal_sampling_mode = variant.get('expl_goal_sampling_mode', None)
elif mode == 'eval':
goal_sampling_mode = variant.get('eval_goal_sampling_mode', None)
if goal_sampling_mode not in [None, 'example_set']:
env.goal_sampling_mode = goal_sampling_mode
mask_ids_for_training = mask_variant.get('mask_ids_for_training', None)
if mask_conditioned:
context_distrib = MaskDictDistribution(
env,
desired_goal_keys=[desired_goal_key],
mask_format=mask_format,
masks=masks,
max_subtasks_to_focus_on=mask_variant.get('max_subtasks_to_focus_on', None),
prev_subtask_weight=mask_variant.get('prev_subtask_weight', None),
mask_distr=mask_variant.get('train_mask_distr', None),
mask_ids=mask_ids_for_training,
)
reward_fn = ContextualMaskingRewardFn(
achieved_goal_from_observation=IndexIntoAchievedGoal(achieved_goal_key),
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
mask_keys=mask_keys,
mask_format=mask_format,
use_g_for_mean=mask_variant['use_g_for_mean'],
use_squared_reward=mask_variant.get('use_squared_reward', False),
)
else:
if goal_sampling_mode == 'example_set':
example_dataset = gen_example_sets(get_envs(variant), variant['example_set_variant'])
assert len(example_dataset['list_of_waypoints']) == 1
from rlkit.envs.contextual.set_distributions import GoalDictDistributionFromSet
context_distrib = GoalDictDistributionFromSet(
example_dataset['list_of_waypoints'][0],
desired_goal_keys=[desired_goal_key],
)
else:
context_distrib = GoalDictDistributionFromMultitaskEnv(
env,
desired_goal_keys=[desired_goal_key],
)
reward_fn = ContextualRewardFnFromMultitaskEnv(
env=env,
achieved_goal_from_observation=IndexIntoAchievedGoal(achieved_goal_key),
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
additional_obs_keys=variant['contextual_replay_buffer_kwargs'].get('observation_keys', None),
)
diag_fn = GoalConditionedDiagnosticsToContextualDiagnostics(
env.goal_conditioned_diagnostics,
desired_goal_key=desired_goal_key,
observation_key=observation_key,
)
env = ContextualEnv(
env,
context_distribution=context_distrib,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=[diag_fn],
update_env_info_fn=delete_info if not variant.get('keep_env_infos', False) else None,
)
return env, context_distrib, reward_fn
env, context_distrib, reward_fn = contextual_env_distrib_and_reward(mode='expl')
eval_env, eval_context_distrib, _ = contextual_env_distrib_and_reward(mode='eval')
if mask_conditioned:
obs_dim = (
env.observation_space.spaces[observation_key].low.size
+ context_dim_for_networks
)
elif contextual_mdp:
obs_dim = (
env.observation_space.spaces[observation_key].low.size
+ env.observation_space.spaces[desired_goal_key].low.size
)
else:
obs_dim = env.observation_space.spaces[observation_key].low.size
action_dim = env.action_space.low.size
if 'ckpt' in variant and 'ckpt_epoch' in variant:
from rlkit.misc.asset_loader import local_path_from_s3_or_local_path
import os.path as osp
ckpt_epoch = variant['ckpt_epoch']
if ckpt_epoch is not None:
epoch = variant['ckpt_epoch']
filename = local_path_from_s3_or_local_path(osp.join(variant['ckpt'], 'itr_%d.pkl' % epoch))
else:
filename = local_path_from_s3_or_local_path(osp.join(variant['ckpt'], 'params.pkl'))
print("Loading ckpt from", filename)
data = torch.load(filename)
qf1 = data['trainer/qf1']
qf2 = data['trainer/qf2']
target_qf1 = data['trainer/target_qf1']
target_qf2 = data['trainer/target_qf2']
policy = data['trainer/policy']
eval_policy = data['evaluation/policy']
expl_policy = data['exploration/policy']
else:
qf1 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
**variant['qf_kwargs']
)
qf2 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
**variant['qf_kwargs']
)
target_qf1 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
**variant['qf_kwargs']
)
target_qf2 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
**variant['qf_kwargs']
)
if rl_algo == 'td3':
policy = TanhMlpPolicy(
input_size=obs_dim,
output_size=action_dim,
**variant['policy_kwargs']
)
target_policy = TanhMlpPolicy(
input_size=obs_dim,
output_size=action_dim,
**variant['policy_kwargs']
)
expl_policy = create_exploration_policy(
env, policy,
exploration_version=variant['exploration_type'],
exploration_noise=variant['exploration_noise'],
)
eval_policy = policy
elif rl_algo == 'sac':
policy = TanhGaussianPolicy(
obs_dim=obs_dim,
action_dim=action_dim,
**variant['policy_kwargs']
)
expl_policy = policy
eval_policy = MakeDeterministic(policy)
post_process_mask_fn = partial(
full_post_process_mask_fn,
mask_conditioned=mask_conditioned,
mask_variant=mask_variant,
context_distrib=context_distrib,
context_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
)
def context_from_obs_dict_fn(obs_dict):
context_dict = {
desired_goal_key: obs_dict[achieved_goal_key]
}
if mask_conditioned:
sample_masks_for_relabeling = mask_variant.get('sample_masks_for_relabeling', True)
if sample_masks_for_relabeling:
batch_size = next(iter(obs_dict.values())).shape[0]
sampled_contexts = context_distrib.sample(batch_size)
for mask_key in mask_keys:
context_dict[mask_key] = sampled_contexts[mask_key]
else:
for mask_key in mask_keys:
context_dict[mask_key] = obs_dict[mask_key]
return context_dict
def concat_context_to_obs(batch, replay_buffer=None, obs_dict=None, next_obs_dict=None, new_contexts=None):
obs = batch['observations']
next_obs = batch['next_observations']
batch_size = obs.shape[0]
if mask_conditioned:
if obs_dict is not None and new_contexts is not None:
if not mask_variant.get('relabel_masks', True):
for k in mask_keys:
new_contexts[k] = next_obs_dict[k][:]
batch.update(new_contexts)
if not mask_variant.get('relabel_goals', True):
new_contexts[desired_goal_key] = next_obs_dict[desired_goal_key][:]
batch.update(new_contexts)
new_contexts = post_process_mask_fn(obs_dict, new_contexts)
batch.update(new_contexts)
if mask_format in ['vector', 'matrix']:
goal = batch[desired_goal_key]
mask = batch['mask'].reshape((batch_size, -1))
batch['observations'] = np.concatenate([obs, goal, mask], axis=1)
batch['next_observations'] = np.concatenate([next_obs, goal, mask], axis=1)
elif mask_format == 'distribution':
goal = batch[desired_goal_key]
sigma_inv = batch['mask_sigma_inv'].reshape((batch_size, -1))
batch['observations'] = np.concatenate([obs, goal, sigma_inv], axis=1)
batch['next_observations'] = np.concatenate([next_obs, goal, sigma_inv], axis=1)
elif mask_format == 'cond_distribution':
goal = batch[desired_goal_key]
mu_w = batch['mask_mu_w']
mu_g = batch['mask_mu_g']
mu_A = batch['mask_mu_mat']
sigma_inv = batch['mask_sigma_inv']
if mask_variant['use_g_for_mean']:
mu_w_given_g = goal
else:
mu_w_given_g = mu_w + np.squeeze(mu_A @ np.expand_dims(goal - mu_g, axis=-1), axis=-1)
sigma_w_given_g_inv = sigma_inv.reshape((batch_size, -1))
batch['observations'] = np.concatenate([obs, mu_w_given_g, sigma_w_given_g_inv], axis=1)
batch['next_observations'] = np.concatenate([next_obs, mu_w_given_g, sigma_w_given_g_inv], axis=1)
else:
raise NotImplementedError
elif contextual_mdp:
goal = batch[desired_goal_key]
batch['observations'] = np.concatenate([obs, goal], axis=1)
batch['next_observations'] = np.concatenate([next_obs, goal], axis=1)
else:
batch['observations'] = obs
batch['next_observations'] = next_obs
return batch
if 'observation_keys' not in variant['contextual_replay_buffer_kwargs']:
variant['contextual_replay_buffer_kwargs']['observation_keys'] = []
observation_keys = variant['contextual_replay_buffer_kwargs']['observation_keys']
if observation_key not in observation_keys:
observation_keys.append(observation_key)
if achieved_goal_key not in observation_keys:
observation_keys.append(achieved_goal_key)
replay_buffer = ContextualRelabelingReplayBuffer(
env=env,
context_keys=context_keys,
context_distribution=context_distrib,
sample_context_from_obs_dict_fn=context_from_obs_dict_fn,
reward_fn=reward_fn,
post_process_batch_fn=concat_context_to_obs,
**variant['contextual_replay_buffer_kwargs']
)
if rl_algo == 'td3':
trainer = TD3Trainer(
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
target_policy=target_policy,
**variant['td3_trainer_kwargs']
)
elif rl_algo == 'sac':
trainer = SACTrainer(
env=env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**variant['sac_trainer_kwargs']
)
def create_path_collector(
env,
policy,
mode='expl',
mask_kwargs={},
):
assert mode in ['expl', 'eval']
save_env_in_snapshot = variant.get('save_env_in_snapshot', True)
if mask_conditioned:
if 'rollout_mask_order' in mask_kwargs:
rollout_mask_order = mask_kwargs['rollout_mask_order']
else:
if mode == 'expl':
rollout_mask_order = mask_variant.get('rollout_mask_order_for_expl', 'fixed')
elif mode == 'eval':
rollout_mask_order = mask_variant.get('rollout_mask_order_for_eval', 'fixed')
else:
raise TypeError
if 'mask_distr' in mask_kwargs:
mask_distr = mask_kwargs['mask_distr']
else:
if mode == 'expl':
mask_distr = mask_variant['expl_mask_distr']
elif mode == 'eval':
mask_distr = mask_variant['eval_mask_distr']
else:
raise TypeError
if 'mask_ids' in mask_kwargs:
mask_ids = mask_kwargs['mask_ids']
else:
if mode == 'expl':
mask_ids = mask_variant.get('mask_ids_for_expl', None)
elif mode == 'eval':
mask_ids = mask_variant.get('mask_ids_for_eval', None)
else:
raise TypeError
prev_subtask_weight = mask_variant.get('prev_subtask_weight', None)
max_subtasks_to_focus_on = mask_variant.get('max_subtasks_to_focus_on', None)
max_subtasks_per_rollout = mask_variant.get('max_subtasks_per_rollout', None)
mode = mask_variant.get('context_post_process_mode', None)
if mode in ['dilute_prev_subtasks_uniform', 'dilute_prev_subtasks_fixed']:
prev_subtask_weight = 0.5
return MaskPathCollector(
env,
policy,
observation_key=observation_key,
context_keys_for_policy=context_keys,
concat_context_to_obs_fn=concat_context_to_obs,
save_env_in_snapshot=save_env_in_snapshot,
mask_sampler=(context_distrib if mode=='expl' else eval_context_distrib),
mask_distr=mask_distr.copy(),
mask_ids=mask_ids,
max_path_length=max_path_length,
rollout_mask_order=rollout_mask_order,
prev_subtask_weight=prev_subtask_weight,
max_subtasks_to_focus_on=max_subtasks_to_focus_on,
max_subtasks_per_rollout=max_subtasks_per_rollout,
)
elif contextual_mdp:
return ContextualPathCollector(
env,
policy,
observation_key=observation_key,
context_keys_for_policy=context_keys,
save_env_in_snapshot=save_env_in_snapshot,
)
else:
return ContextualPathCollector(
env,
policy,
observation_key=observation_key,
context_keys_for_policy=[],
save_env_in_snapshot=save_env_in_snapshot,
)
expl_path_collector = create_path_collector(env, expl_policy, mode='expl')
eval_path_collector = create_path_collector(eval_env, eval_policy, mode='eval')
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**variant['algo_kwargs']
)
algorithm.to(ptu.device)
if variant.get("save_video", True):
save_period = variant.get('save_video_period', 50)
dump_video_kwargs = variant.get("dump_video_kwargs", dict())
dump_video_kwargs['horizon'] = max_path_length
renderer = EnvRenderer(**variant.get('renderer_kwargs', {}))
def add_images(env, state_distribution):
state_env = env.env
image_goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=state_distribution,
image_goal_key='image_desired_goal',
renderer=renderer,
)
img_env = InsertImagesEnv(state_env, renderers={
'image_observation' : renderer,
})
context_env = ContextualEnv(
img_env,
context_distribution=image_goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
update_env_info_fn=delete_info,
)
return context_env
img_eval_env = add_images(eval_env, eval_context_distrib)
if variant.get('log_eval_video', True):
video_path_collector = create_path_collector(img_eval_env, eval_policy, mode='eval')
rollout_function = video_path_collector._rollout_fn
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
eval_policy,
tag="eval",
imsize=variant['renderer_kwargs']['width'],
image_format='CHW',
save_video_period=save_period,
**dump_video_kwargs
)
algorithm.post_train_funcs.append(eval_video_func)
# additional eval videos for mask conditioned case
if mask_conditioned:
default_list = [
'atomic',
'atomic_seq',
'cumul_seq',
'full',
]
eval_rollouts_for_videos = mask_variant.get('eval_rollouts_for_videos', default_list)
for key in eval_rollouts_for_videos:
assert key in default_list
if 'cumul_seq' in eval_rollouts_for_videos:
video_path_collector = create_path_collector(
img_eval_env,
eval_policy,
mode='eval',
mask_kwargs=dict(
mask_distr=dict(
cumul_seq=1.0
),
),
)
rollout_function = video_path_collector._rollout_fn
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
eval_policy,
tag="eval_cumul" if mask_conditioned else "eval",
imsize=variant['renderer_kwargs']['width'],
image_format='HWC',
save_video_period=save_period,
**dump_video_kwargs
)
algorithm.post_train_funcs.append(eval_video_func)
if 'full' in eval_rollouts_for_videos:
video_path_collector = create_path_collector(
img_eval_env,
eval_policy,
mode='eval',
mask_kwargs=dict(
mask_distr=dict(
full=1.0
),
),
)
rollout_function = video_path_collector._rollout_fn
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
eval_policy,
tag="eval_full",
imsize=variant['renderer_kwargs']['width'],
image_format='HWC',
save_video_period=save_period,
**dump_video_kwargs
)
algorithm.post_train_funcs.append(eval_video_func)
if 'atomic_seq' in eval_rollouts_for_videos:
video_path_collector = create_path_collector(
img_eval_env,
eval_policy,
mode='eval',
mask_kwargs=dict(
mask_distr=dict(
atomic_seq=1.0
),
),
)
rollout_function = video_path_collector._rollout_fn
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
eval_policy,
tag="eval_atomic",
imsize=variant['renderer_kwargs']['width'],
image_format='HWC',
save_video_period=save_period,
**dump_video_kwargs
)
algorithm.post_train_funcs.append(eval_video_func)
if variant.get('log_expl_video', True) and not variant['algo_kwargs'].get('eval_only', False):
img_expl_env = add_images(env, context_distrib)
video_path_collector = create_path_collector(img_expl_env, expl_policy, mode='expl')
rollout_function = video_path_collector._rollout_fn
expl_video_func = get_save_video_function(
rollout_function,
img_expl_env,
expl_policy,
tag="expl",
imsize=variant['renderer_kwargs']['width'],
image_format='CHW',
save_video_period=save_period,
**dump_video_kwargs
)
algorithm.post_train_funcs.append(expl_video_func)
addl_collectors = []
addl_log_prefixes = []
if mask_conditioned and mask_variant.get('log_mask_diagnostics', True):
default_list = [
'atomic',
'atomic_seq',
'cumul_seq',
'full',
]
eval_rollouts_to_log = mask_variant.get('eval_rollouts_to_log', default_list)
for key in eval_rollouts_to_log:
assert key in default_list
# atomic masks
if 'atomic' in eval_rollouts_to_log:
for mask_id in eval_path_collector.mask_ids:
mask_kwargs=dict(
mask_ids=[mask_id],
mask_distr=dict(
atomic=1.0,
),
)
collector = create_path_collector(eval_env, eval_policy, mode='eval', mask_kwargs=mask_kwargs)
addl_collectors.append(collector)
addl_log_prefixes += [
'mask_{}/'.format(''.join(str(mask_id)))
for mask_id in eval_path_collector.mask_ids
]
# full mask
if 'full' in eval_rollouts_to_log:
mask_kwargs=dict(
mask_distr=dict(
full=1.0,
),
)
collector = create_path_collector(eval_env, eval_policy, mode='eval', mask_kwargs=mask_kwargs)
addl_collectors.append(collector)
addl_log_prefixes.append('mask_full/')
# cumulative, sequential mask
if 'cumul_seq' in eval_rollouts_to_log:
mask_kwargs=dict(
rollout_mask_order='fixed',
mask_distr=dict(
cumul_seq=1.0,
),
)
collector = create_path_collector(eval_env, eval_policy, mode='eval', mask_kwargs=mask_kwargs)
addl_collectors.append(collector)
addl_log_prefixes.append('mask_cumul_seq/')
# atomic, sequential mask
if 'atomic_seq' in eval_rollouts_to_log:
mask_kwargs=dict(
rollout_mask_order='fixed',
mask_distr=dict(
atomic_seq=1.0,
),
)
collector = create_path_collector(eval_env, eval_policy, mode='eval', mask_kwargs=mask_kwargs)
addl_collectors.append(collector)
addl_log_prefixes.append('mask_atomic_seq/')
def get_mask_diagnostics(unused):
from rlkit.core.logging import append_log, add_prefix, OrderedDict
log = OrderedDict()
for prefix, collector in zip(addl_log_prefixes, addl_collectors):
paths = collector.collect_new_paths(
max_path_length,
variant['algo_kwargs']['num_eval_steps_per_epoch'],
discard_incomplete_paths=True,
)
old_path_info = eval_env.get_diagnostics(paths)
keys_to_keep = []
for key in old_path_info.keys():
if ('env_infos' in key) and ('final' in key) and ('Mean' in key):
keys_to_keep.append(key)
path_info = OrderedDict()
for key in keys_to_keep:
path_info[key] = old_path_info[key]
generic_info = add_prefix(
path_info,
prefix,
)
append_log(log, generic_info)
for collector in addl_collectors:
collector.end_epoch(0)
return log
algorithm._eval_get_diag_fns.append(get_mask_diagnostics)
if 'ckpt' in variant:
from rlkit.misc.asset_loader import local_path_from_s3_or_local_path
import os.path as osp
assert variant['algo_kwargs'].get('eval_only', False)
def update_networks(algo, epoch):
if 'ckpt_epoch' in variant:
return
if epoch % algo._eval_epoch_freq == 0:
filename = local_path_from_s3_or_local_path(osp.join(variant['ckpt'], 'itr_%d.pkl' % epoch))
print("Loading ckpt from", filename)
data = torch.load(filename)#, map_location='cuda:1')
eval_policy = data['evaluation/policy']
eval_policy.to(ptu.device)
algo.eval_data_collector._policy = eval_policy
for collector in addl_collectors:
collector._policy = eval_policy
algorithm.post_train_funcs.insert(0, update_networks)
algorithm.train()
def disco_experiment(
max_path_length,
qf_kwargs,
sac_trainer_kwargs,
replay_buffer_kwargs,
policy_kwargs,
algo_kwargs,
generate_set_for_rl_kwargs,
# VAE parameters
create_vae_kwargs,
vae_trainer_kwargs,
vae_algo_kwargs,
data_loader_kwargs,
generate_set_for_vae_pretraining_kwargs,
num_ungrouped_images,
beta_schedule_kwargs=None,
# Oracle settings
use_ground_truth_reward=False,
use_onehot_set_embedding=False,
use_dummy_model=False,
observation_key="latent_observation",
# RIG comparison
rig_goal_setter_kwargs=None,
rig=False,
# Miscellaneous
reward_fn_kwargs=None,
# None-VAE Params
env_id=None,
env_class=None,
env_kwargs=None,
latent_observation_key="latent_observation",
state_observation_key="state_observation",
image_observation_key="image_observation",
set_description_key="set_description",
example_state_key="example_state",
example_image_key="example_image",
# Exploration
exploration_policy_kwargs=None,
# Video parameters
save_video=True,
save_video_kwargs=None,
renderer_kwargs=None,
):
if rig_goal_setter_kwargs is None:
rig_goal_setter_kwargs = {}
if reward_fn_kwargs is None:
reward_fn_kwargs = {}
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if not save_video_kwargs:
save_video_kwargs = {}
if not renderer_kwargs:
renderer_kwargs = {}
renderer = EnvRenderer(**renderer_kwargs)
sets = create_sets(
env_id,
env_class,
env_kwargs,
renderer,
example_state_key=example_state_key,
example_image_key=example_image_key,
**generate_set_for_rl_kwargs,
)
if use_dummy_model:
model = create_dummy_image_vae(img_chw=renderer.image_chw,
**create_vae_kwargs)
else:
model = train_set_vae(
create_vae_kwargs,
vae_trainer_kwargs,
vae_algo_kwargs,
data_loader_kwargs,
generate_set_for_vae_pretraining_kwargs,
num_ungrouped_images,
env_id=env_id,
env_class=env_class,
env_kwargs=env_kwargs,
beta_schedule_kwargs=beta_schedule_kwargs,
sets=sets,
renderer=renderer,
)
expl_env, expl_context_distrib, expl_reward = (
contextual_env_distrib_and_reward(
vae=model,
sets=sets,
state_env=get_gym_env(
env_id,
env_class=env_class,
env_kwargs=env_kwargs,
),
renderer=renderer,
reward_fn_kwargs=reward_fn_kwargs,
use_ground_truth_reward=use_ground_truth_reward,
state_observation_key=state_observation_key,
latent_observation_key=latent_observation_key,
example_image_key=example_image_key,
set_description_key=set_description_key,
observation_key=observation_key,
image_observation_key=image_observation_key,
rig_goal_setter_kwargs=rig_goal_setter_kwargs,
))
eval_env, eval_context_distrib, eval_reward = (
contextual_env_distrib_and_reward(
vae=model,
sets=sets,
state_env=get_gym_env(
env_id,
env_class=env_class,
env_kwargs=env_kwargs,
),
renderer=renderer,
reward_fn_kwargs=reward_fn_kwargs,
use_ground_truth_reward=use_ground_truth_reward,
state_observation_key=state_observation_key,
latent_observation_key=latent_observation_key,
example_image_key=example_image_key,
set_description_key=set_description_key,
observation_key=observation_key,
image_observation_key=image_observation_key,
rig_goal_setter_kwargs=rig_goal_setter_kwargs,
oracle_rig_goal=rig,
))
context_keys = [
expl_context_distrib.mean_key,
expl_context_distrib.covariance_key,
expl_context_distrib.set_index_key,
expl_context_distrib.set_embedding_key,
]
if rig:
context_keys_for_rl = [
expl_context_distrib.mean_key,
]
else:
if use_onehot_set_embedding:
context_keys_for_rl = [
expl_context_distrib.set_embedding_key,
]
else:
context_keys_for_rl = [
expl_context_distrib.mean_key,
expl_context_distrib.covariance_key,
]
obs_dim = np.prod(expl_env.observation_space.spaces[observation_key].shape)
obs_dim += sum([
np.prod(expl_env.observation_space.spaces[k].shape)
for k in context_keys_for_rl
])
action_dim = np.prod(expl_env.action_space.shape)
def create_qf():
return ConcatMlp(input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs)
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
policy = TanhGaussianPolicy(obs_dim=obs_dim,
action_dim=action_dim,
**policy_kwargs)
def concat_context_to_obs(batch, *args, **kwargs):
obs = batch["observations"]
next_obs = batch["next_observations"]
contexts = [batch[k] for k in context_keys_for_rl]
batch["observations"] = np.concatenate((obs, *contexts), axis=1)
batch["next_observations"] = np.concatenate(
(next_obs, *contexts),
axis=1,
)
return batch
replay_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=context_keys,
observation_keys=list(
{observation_key, state_observation_key, latent_observation_key}),
observation_key=observation_key,
context_distribution=FilterKeys(
expl_context_distrib,
context_keys,
),
sample_context_from_obs_dict_fn=None,
# RemapKeyFn({context_key: observation_key}),
reward_fn=eval_reward,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs,
)
trainer = SACTrainer(
env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**sac_trainer_kwargs,
)
eval_path_collector = ContextualPathCollector(
eval_env,
MakeDeterministic(policy),
observation_key=observation_key,
context_keys_for_policy=context_keys_for_rl,
)
exploration_policy = create_exploration_policy(expl_env, policy,
**exploration_policy_kwargs)
expl_path_collector = ContextualPathCollector(
expl_env,
exploration_policy,
observation_key=observation_key,
context_keys_for_policy=context_keys_for_rl,
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs,
)
algorithm.to(ptu.device)
if save_video:
set_index_key = eval_context_distrib.set_index_key
expl_video_func = DisCoVideoSaveFunction(
model,
sets,
expl_path_collector,
tag="train",
reconstruction_key="image_reconstruction",
decode_set_image_key="decoded_set_prior",
set_visualization_key="set_visualization",
example_image_key=example_image_key,
set_index_key=set_index_key,
columns=len(sets),
unnormalize=True,
imsize=48,
image_format=renderer.output_image_format,
**save_video_kwargs,
)
algorithm.post_train_funcs.append(expl_video_func)
eval_video_func = DisCoVideoSaveFunction(
model,
sets,
eval_path_collector,
tag="eval",
reconstruction_key="image_reconstruction",
decode_set_image_key="decoded_set_prior",
set_visualization_key="set_visualization",
example_image_key=example_image_key,
set_index_key=set_index_key,
columns=len(sets),
unnormalize=True,
imsize=48,
image_format=renderer.output_image_format,
**save_video_kwargs,
)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.train()
def masking_sac_experiment(
max_path_length,
qf_kwargs,
sac_trainer_kwargs,
replay_buffer_kwargs,
policy_kwargs,
algo_kwargs,
env_class=None,
env_kwargs=None,
observation_key='state_observation',
desired_goal_key='state_desired_goal',
achieved_goal_key='state_achieved_goal',
exploration_policy_kwargs=None,
evaluation_goal_sampling_mode=None,
exploration_goal_sampling_mode=None,
# Video parameters
save_video=True,
save_video_kwargs=None,
renderer_kwargs=None,
train_env_id=None,
eval_env_id=None,
do_masking=True,
mask_key="masked_observation",
masking_eval_steps=200,
log_mask_diagnostics=True,
mask_dim=None,
masking_reward_fn=None,
masking_for_exploration=True,
rotate_masks_for_eval=False,
rotate_masks_for_expl=False,
mask_distribution=None,
num_steps_per_mask_change=10,
tag=None,
):
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if not save_video_kwargs:
save_video_kwargs = {}
if not renderer_kwargs:
renderer_kwargs = {}
context_key = desired_goal_key
env = get_gym_env(train_env_id, env_class=env_class, env_kwargs=env_kwargs)
mask_dim = (mask_dim or env.observation_space.spaces[context_key].low.size)
if not do_masking:
mask_distribution = 'all_ones'
assert mask_distribution in [
'one_hot_masks', 'random_bit_masks', 'all_ones'
]
if mask_distribution == 'all_ones':
mask_distribution = 'static_mask'
def contextual_env_distrib_and_reward(
env_id,
env_class,
env_kwargs,
goal_sampling_mode,
env_mask_distribution_type,
static_mask=None,
):
env = get_gym_env(env_id, env_class=env_class, env_kwargs=env_kwargs)
env.goal_sampling_mode = goal_sampling_mode
use_static_mask = (not do_masking
or env_mask_distribution_type == 'static_mask')
# Default to all ones mask if static mask isn't defined and should
# be using static masks.
if use_static_mask and static_mask is None:
static_mask = np.ones(mask_dim)
if not do_masking:
assert env_mask_distribution_type == 'static_mask'
goal_distribution = GoalDictDistributionFromMultitaskEnv(
env,
desired_goal_keys=[desired_goal_key],
)
goal_distribution = MaskedGoalDictDistribution(
goal_distribution,
mask_key=mask_key,
mask_dim=mask_dim,
distribution_type=env_mask_distribution_type,
static_mask=static_mask,
)
reward_fn = ContextualRewardFnFromMultitaskEnv(
env=env,
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
achieved_goal_from_observation=IndexIntoAchievedGoal(
observation_key),
)
if do_masking:
if masking_reward_fn:
reward_fn = partial(masking_reward_fn,
context_key=context_key,
mask_key=mask_key)
else:
reward_fn = partial(default_masked_reward_fn,
context_key=context_key,
mask_key=mask_key)
state_diag_fn = GoalConditionedDiagnosticsToContextualDiagnostics(
env.goal_conditioned_diagnostics,
desired_goal_key=desired_goal_key,
observation_key=observation_key,
)
env = ContextualEnv(
env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=[state_diag_fn],
)
return env, goal_distribution, reward_fn
expl_env, expl_context_distrib, expl_reward = contextual_env_distrib_and_reward(
train_env_id,
env_class,
env_kwargs,
exploration_goal_sampling_mode,
mask_distribution if masking_for_exploration else 'static_mask',
)
eval_env, eval_context_distrib, eval_reward = contextual_env_distrib_and_reward(
eval_env_id, env_class, env_kwargs, evaluation_goal_sampling_mode,
'static_mask')
# Distribution for relabeling
relabel_context_distrib = GoalDictDistributionFromMultitaskEnv(
env,
desired_goal_keys=[desired_goal_key],
)
relabel_context_distrib = MaskedGoalDictDistribution(
relabel_context_distrib,
mask_key=mask_key,
mask_dim=mask_dim,
distribution_type=mask_distribution,
static_mask=None if do_masking else np.ones(mask_dim),
)
obs_dim = (expl_env.observation_space.spaces[observation_key].low.size +
expl_env.observation_space.spaces[context_key].low.size +
mask_dim)
action_dim = expl_env.action_space.low.size
def create_qf():
return ConcatMlp(input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs)
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
policy = TanhGaussianPolicy(obs_dim=obs_dim,
action_dim=action_dim,
**policy_kwargs)
def context_from_obs_dict_fn(obs_dict):
achieved_goal = obs_dict['state_achieved_goal']
# Should the mask be randomized for future relabeling?
# batch_size = len(achieved_goal)
# mask = np.random.choice(2, size=(batch_size, mask_dim))
mask = obs_dict[mask_key]
return {
mask_key: mask,
context_key: achieved_goal,
}
def concat_context_to_obs(batch, *args, **kwargs):
obs = batch['observations']
next_obs = batch['next_observations']
context = batch[context_key]
mask = batch[mask_key]
batch['observations'] = np.concatenate([obs, context, mask], axis=1)
batch['next_observations'] = np.concatenate([next_obs, context, mask],
axis=1)
return batch
replay_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=[context_key, mask_key],
observation_keys=[observation_key, 'state_achieved_goal'],
context_distribution=relabel_context_distrib,
sample_context_from_obs_dict_fn=context_from_obs_dict_fn,
reward_fn=eval_reward,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs)
trainer = SACTrainer(env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**sac_trainer_kwargs)
def create_path_collector(env, policy, is_rotating):
if is_rotating:
assert do_masking and mask_distribution == 'one_hot_masks'
return RotatingMaskingPathCollector(
env,
policy,
observation_key=observation_key,
context_keys_for_policy=[context_key, mask_key],
mask_key=mask_key,
mask_length=mask_dim,
num_steps_per_mask_change=num_steps_per_mask_change,
)
else:
return ContextualPathCollector(
env,
policy,
observation_key=observation_key,
context_keys_for_policy=[context_key, mask_key],
)
exploration_policy = create_exploration_policy(expl_env, policy,
**exploration_policy_kwargs)
eval_path_collector = create_path_collector(eval_env,
MakeDeterministic(policy),
rotate_masks_for_eval)
expl_path_collector = create_path_collector(expl_env, exploration_policy,
rotate_masks_for_expl)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs)
algorithm.to(ptu.device)
if save_video:
rollout_function = partial(
rf.contextual_rollout,
max_path_length=max_path_length,
observation_key=observation_key,
context_keys_for_policy=[context_key, mask_key],
# Eval on everything for the base video
obs_processor=lambda o: np.hstack(
(o[observation_key], o[context_key], np.ones(mask_dim))))
renderer = EnvRenderer(**renderer_kwargs)
def add_images(env, state_distribution):
state_env = env.env
image_goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=state_distribution,
image_goal_key='image_desired_goal',
renderer=renderer,
)
img_env = InsertImageEnv(state_env, renderer=renderer)
return ContextualEnv(
img_env,
context_distribution=image_goal_distribution,
reward_fn=eval_reward,
observation_key=observation_key,
# update_env_info_fn=DeleteOldEnvInfo(),
)
img_eval_env = add_images(eval_env, eval_context_distrib)
img_expl_env = add_images(expl_env, expl_context_distrib)
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
MakeDeterministic(policy),
tag="eval",
imsize=renderer.image_shape[0],
image_format='CWH',
**save_video_kwargs)
expl_video_func = get_save_video_function(
rollout_function,
img_expl_env,
exploration_policy,
tag="train",
imsize=renderer.image_shape[0],
image_format='CWH',
**save_video_kwargs)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.post_train_funcs.append(expl_video_func)
# For diagnostics, evaluate the policy on each individual dimension of the
# mask.
masks = []
collectors = []
for mask_idx in range(mask_dim):
mask = np.zeros(mask_dim)
mask[mask_idx] = 1
masks.append(mask)
for mask in masks:
for_dim_mask = mask if do_masking else np.ones(mask_dim)
masked_env, _, _ = contextual_env_distrib_and_reward(
eval_env_id,
env_class,
env_kwargs,
evaluation_goal_sampling_mode,
'static_mask',
static_mask=for_dim_mask)
collector = ContextualPathCollector(
masked_env,
MakeDeterministic(policy),
observation_key=observation_key,
context_keys_for_policy=[context_key, mask_key],
)
collectors.append(collector)
log_prefixes = [
'mask_{}/'.format(''.join(mask.astype(int).astype(str)))
for mask in masks
]
def get_mask_diagnostics(unused):
from rlkit.core.logging import append_log, add_prefix, OrderedDict
from rlkit.misc import eval_util
log = OrderedDict()
for prefix, collector in zip(log_prefixes, collectors):
paths = collector.collect_new_paths(
max_path_length,
masking_eval_steps,
discard_incomplete_paths=True,
)
generic_info = add_prefix(
eval_util.get_generic_path_information(paths),
prefix,
)
append_log(log, generic_info)
for collector in collectors:
collector.end_epoch(0)
return log
if log_mask_diagnostics:
algorithm._eval_get_diag_fns.append(get_mask_diagnostics)
algorithm.train()